低成本水下机器人Lo-MARVE可自主探测浅水环境，成本仅500欧元。
Lo-MARVE: A Low Cost Autonomous Underwater Vehicle for Marine Exploration
- 用树莓派4B和低成本传感器构建模块化水下机器人
- 在爱尔兰科里布河实测中实现自主导航与数据通信
- 适合预算有限的科研团队或环保监测项目使用
本文提出低成本海洋自主机器人探索器（Lo-MARVE），一种专为浅水环境下的水下探测与环境监测设计的新型自主水下航行器。该系统提供了一种经济高效的替代方案，具备模块化设计、低成本传感器和无线通信功能，总成本约为500欧元。Lo-MARVE采用树莓派4B作为微处理器，控制软件基于Python编写。该原型已在爱尔兰戈尔韦市科里布河的淡水环境中完成实地测试，验证了其在非实验室条件下实现自主导航、数据采集与有效通信的能力。此次真实环境部署成功证明了该系统的可行性。
原文摘要 · Abstract (English)
This paper presents Low-cost Marine Autonomous Robotic Vehicle Explorer (Lo-MARVE), a novel autonomous underwater vehicle (AUV) designed to provide a low cost solution for underwater exploration and environmental monitoring in shallow water environments. Lo-MARVE offers a cost-effective alternative to existing AUVs, featuring a modular design, low-cost sensors, and wireless communication capabilities. The total cost of Lo-MARVE is approximately EUR 500. Lo-MARVE is developed using the Raspberry Pi 4B microprocessor, with control software written in Python. The proposed AUV was validated through field testing outside of a laboratory setting, in the freshwater environment of the River Corrib in Galway, Ireland. This demonstrates its ability to navigate autonomously, collect data, and communicate effectively outside of a controlled laboratory setting. The successful deployment of Lo-MARVE in a real-world environment validates its proof of concept.
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